Help me please arduino bluethooth

Hello, I am making a car project with an on-board bluetooth system but I can not achieve anything with the code supplied with the shield, I have also tried the code for the other card and nothing works I show you my code and , I really need your help!

You just need to send "a" forward "r" backward and "g" left "right" and a stop button.

Thank you for your help cordially.

seeed BLE dual model

/*
Bluetooth HM13 Demo Code
2014 Copyright (c) Seeed Technology Inc.  All right reserved.

Author: Jacky Zhang

This demo code is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

For more details about the product please check http://www.seeedstudio.com/depot/

*/

/* Upload this sketch into Arduino Uno and press reset*/

#include <SoftwareSerial.h>   //Software Serial Port
#define RxD 2
#define TxD 3
int messageBlue;
#define SLAVE 0    //change this macro to define the Bluetooth as Master or not 

SoftwareSerial blueToothSerial(RxD,TxD);//the software serial port

int a = 0;
int b = 1; 
int c = 2;

char recv_str[100];
char valSerie;
char mot = Serial.read();


void setup() 
{

  
    pinMode(a, OUTPUT);
    pinMode(b, OUTPUT);
    pinMode(c, OUTPUT);
       
    Serial.begin(115200);   //Serial port for debugging
    pinMode(RxD, INPUT);    //UART pin for Bluetooth
    pinMode(TxD, OUTPUT);   //UART pin for Bluetooth
    Serial.println("\r\nPower on!!");

   
    if(setupBlueToothConnection() != 0) while(1);   //initialize Bluetooth
    //this block is waiting for connection was established.
    while(1)
    {
        if(recvMsg(1000) == 0)
        {
            if(strcmp((char *)recv_str, (char *)"OK+CONB") == 0)
            {
                Serial.println("connected\r\n");
                break;
            }
        }
        delay(200);
    }
} 



void allumer()
    {
      digitalWrite(a,HIGH);
      digitalWrite(b,HIGH);
      digitalWrite(c,HIGH);

    }


    void eteindre()
    {
      
      digitalWrite(a,LOW);
      digitalWrite(b,LOW);
      digitalWrite(c,LOW);

    }


void loop() 
{ 
    #if MASTER  //central role
    //in master mode, the bluetooth send message periodically. 
    delay(400);
    Serial.println("send: Avancer");
    blueToothSerial.print("Avancer");
    delay(100);
    //get any message to print
    if(recvMsg(1000) == 0)
    {
        Serial.print("recv: ");
        Serial.print((char *)recv_str);
        Serial.println("MASTER");
    }
    #else   //peripheral role
    delay(200);
    
    //the slave role only send message when received one.
    if(recvMsg(1000) == 0)
    {
       
        Serial.print("recv: ");
        Serial.print((char *)recv_str);
      
  
        Serial.println(" ");
        //Serial.println("send: coucou");
        blueToothSerial.print("Message re├žu");//return back message
        messageBlue= recv_str;
        Serial.println((char *)messageBlue);
        Serial.println(messageBlue, HEX);

       
 
        
    }
    
    
    
        
      

    #endif
}

//used for compare two string, return 0 if one equals to each other
int strcmp(char *a, char *b)
{
    unsigned int ptr = 0;
    while(a[ptr] != '\0')
    {
        if(a[ptr] != b[ptr]) return -1;
        ptr++;
    }
    return 0;
}

//configure the Bluetooth through AT commands
int setupBlueToothConnection()
{
    #if MASTER
    Serial.println("this is MASTER\r\n");
    #else
    Serial.println("this is SLAVE\r\n");
    #endif

    Serial.print("Setting up Bluetooth link\r\n");
    delay(3500);//wait for module restart

    //send command to module in different baud rate
    while(1)
    {
        delay(500);
        blueToothSerial.begin(9600);
        delay(500);
        Serial.print("try 9600\r\n");
        if(sendBlueToothCommand("AT") == 0)
            break;
        delay(500);
        blueToothSerial.begin(115200);
        delay(500);
        Serial.print("try 115200\r\n");
        if(sendBlueToothCommand("AT") == 0)
            break;
    }
    
    //we have to set the baud rate to 9600, since the soft serial is not stable at 115200
    sendBlueToothCommand("AT+RENEW");//restore factory configurations
    sendBlueToothCommand("AT+BAUD2");//reset the module's baud rate
    sendBlueToothCommand("AT+AUTH1");//enable authentication
    sendBlueToothCommand("AT+RESET");//restart module to take effect
    blueToothSerial.begin(9600);//reset the Arduino's baud rate
    delay(3500);//wait for module restart
    //configure parameters of the module
    sendBlueToothCommand("AT+VERS?");//get firmware version
    sendBlueToothCommand("AT+ADDE?");//get EDR MAC
    sendBlueToothCommand("AT+ADDB?");//get BLE MAC
    sendBlueToothCommand("AT+NAMEHM-13-EDR");//set EDR name
    sendBlueToothCommand("AT+NAMBHM-13-BLE");//set BLE name
    sendBlueToothCommand("AT+PINE123451");//set EDR password
    sendBlueToothCommand("AT+PINB123451");//set BLE password
    sendBlueToothCommand("AT+SCAN0");//set module visible
    sendBlueToothCommand("AT+NOTI1");//enable connect notifications
    //sendBlueToothCommand("AT+NOTP1");//enable address notifications
    sendBlueToothCommand("AT+PIO01");//enable key function
    #if MASTER
    sendBlueToothCommand("AT+ROLB1");//set to master mode
    #else
    sendBlueToothCommand("AT+ROLB0");//set to slave mode
    #endif
    sendBlueToothCommand("AT+RESET");//restart module to take effect
    delay(3500);//wait for module restart
    if(sendBlueToothCommand("AT") != 0) return -1;//detect if the module exists
    Serial.print("Setup complete\r\n\r\n");
    return 0;
}





//send command to Bluetooth and return if there is a response
int sendBlueToothCommand(char command[])
{
    Serial.print("send: ");
    Serial.print(command);
    Serial.println("");

    blueToothSerial.print(command);
    delay(200);

    if(recvMsg(200) != 0) return -1;

    Serial.print("recv: ");
    Serial.print(recv_str);
    Serial.println("");
    return 0;
}

//receive message from Bluetooth with time out
int recvMsg(unsigned int timeout)
{
    //wait for feedback
    unsigned int time = 0;
    unsigned char num;
    unsigned char i;
    
    //waiting for the first character with time out
    i = 0;
    while(1)
    {
        delay(50);
        if(blueToothSerial.available())
        {
            recv_str[i] = char(blueToothSerial.read());
            i++;
            break;
        }
        time++;
        if(time > (timeout / 50)) return -1;
    }

    //read other characters from uart buffer to string
    while(blueToothSerial.available() && (i < 100))
    {                                              
        recv_str[i] = char(blueToothSerial.read());
        i++;
    }
    recv_str[i] = '\0';

    return 0;
}




help me please !

Perhaps if you gave some concrete information? "the shield" and "the other card" are what exactly? Do you have links to datasheets or product pages for all the hardware involved - we absolutely cannot guess this stuff, we are not gods!